1,756 research outputs found
SurfelMeshing: Online Surfel-Based Mesh Reconstruction
We address the problem of mesh reconstruction from live RGB-D video, assuming
a calibrated camera and poses provided externally (e.g., by a SLAM system). In
contrast to most existing approaches, we do not fuse depth measurements in a
volume but in a dense surfel cloud. We asynchronously (re)triangulate the
smoothed surfels to reconstruct a surface mesh. This novel approach enables to
maintain a dense surface representation of the scene during SLAM which can
quickly adapt to loop closures. This is possible by deforming the surfel cloud
and asynchronously remeshing the surface where necessary. The surfel-based
representation also naturally supports strongly varying scan resolution. In
particular, it reconstructs colors at the input camera's resolution. Moreover,
in contrast to many volumetric approaches, ours can reconstruct thin objects
since objects do not need to enclose a volume. We demonstrate our approach in a
number of experiments, showing that it produces reconstructions that are
competitive with the state-of-the-art, and we discuss its advantages and
limitations. The algorithm (excluding loop closure functionality) is available
as open source at https://github.com/puzzlepaint/surfelmeshing .Comment: Version accepted to IEEE Transactions on Pattern Analysis and Machine
Intelligenc
Four-dimensional Cone Beam CT Reconstruction and Enhancement using a Temporal Non-Local Means Method
Four-dimensional Cone Beam Computed Tomography (4D-CBCT) has been developed
to provide respiratory phase resolved volumetric imaging in image guided
radiation therapy (IGRT). Inadequate number of projections in each phase bin
results in low quality 4D-CBCT images with obvious streaking artifacts. In this
work, we propose two novel 4D-CBCT algorithms: an iterative reconstruction
algorithm and an enhancement algorithm, utilizing a temporal nonlocal means
(TNLM) method. We define a TNLM energy term for a given set of 4D-CBCT images.
Minimization of this term favors those 4D-CBCT images such that any anatomical
features at one spatial point at one phase can be found in a nearby spatial
point at neighboring phases. 4D-CBCT reconstruction is achieved by minimizing a
total energy containing a data fidelity term and the TNLM energy term. As for
the image enhancement, 4D-CBCT images generated by the FDK algorithm are
enhanced by minimizing the TNLM function while keeping the enhanced images
close to the FDK results. A forward-backward splitting algorithm and a
Gauss-Jacobi iteration method are employed to solve the problems. The
algorithms are implemented on GPU to achieve a high computational efficiency.
The reconstruction algorithm and the enhancement algorithm generate visually
similar 4D-CBCT images, both better than the FDK results. Quantitative
evaluations indicate that, compared with the FDK results, our reconstruction
method improves contrast-to-noise-ratio (CNR) by a factor of 2.56~3.13 and our
enhancement method increases the CNR by 2.75~3.33 times. The enhancement method
also removes over 80% of the streak artifacts from the FDK results. The total
computation time is ~460 sec for the reconstruction algorithm and ~610 sec for
the enhancement algorithm on an NVIDIA Tesla C1060 GPU card.Comment: 20 pages, 3 figures, 2 table
VConv-DAE: Deep Volumetric Shape Learning Without Object Labels
With the advent of affordable depth sensors, 3D capture becomes more and more
ubiquitous and already has made its way into commercial products. Yet,
capturing the geometry or complete shapes of everyday objects using scanning
devices (e.g. Kinect) still comes with several challenges that result in noise
or even incomplete shapes. Recent success in deep learning has shown how to
learn complex shape distributions in a data-driven way from large scale 3D CAD
Model collections and to utilize them for 3D processing on volumetric
representations and thereby circumventing problems of topology and
tessellation. Prior work has shown encouraging results on problems ranging from
shape completion to recognition. We provide an analysis of such approaches and
discover that training as well as the resulting representation are strongly and
unnecessarily tied to the notion of object labels. Thus, we propose a full
convolutional volumetric auto encoder that learns volumetric representation
from noisy data by estimating the voxel occupancy grids. The proposed method
outperforms prior work on challenging tasks like denoising and shape
completion. We also show that the obtained deep embedding gives competitive
performance when used for classification and promising results for shape
interpolation
Deep learning cardiac motion analysis for human survival prediction
Motion analysis is used in computer vision to understand the behaviour of
moving objects in sequences of images. Optimising the interpretation of dynamic
biological systems requires accurate and precise motion tracking as well as
efficient representations of high-dimensional motion trajectories so that these
can be used for prediction tasks. Here we use image sequences of the heart,
acquired using cardiac magnetic resonance imaging, to create time-resolved
three-dimensional segmentations using a fully convolutional network trained on
anatomical shape priors. This dense motion model formed the input to a
supervised denoising autoencoder (4Dsurvival), which is a hybrid network
consisting of an autoencoder that learns a task-specific latent code
representation trained on observed outcome data, yielding a latent
representation optimised for survival prediction. To handle right-censored
survival outcomes, our network used a Cox partial likelihood loss function. In
a study of 302 patients the predictive accuracy (quantified by Harrell's
C-index) was significantly higher (p < .0001) for our model C=0.73 (95 CI:
0.68 - 0.78) than the human benchmark of C=0.59 (95 CI: 0.53 - 0.65). This
work demonstrates how a complex computer vision task using high-dimensional
medical image data can efficiently predict human survival
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